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本文针对多连杆柔性机械臂的运动轨迹控制问题，讨论了动力学建模、控制系统结构设计以及鲁棒自适应控制算法，运用假设模态方法得到了柔性机械臂动力学近似方程，通过对柔性机械臂动力学特性分析，建立了等价动力学模型，依此提出了一种鲁棒自适应控制算法，并给出了仿真研究结果。
In this paper, aiming at the motion trajectory control problem of multi-link flexible manipulator, the dynamics modeling, control system structure design and robust adaptive control algorithm are discussed. The approximate equations of the flexible manipulator dynamics are obtained by using the modal method. Based on the analysis of dynamic characteristics of flexible manipulators, an equivalent dynamics model is established. A robust adaptive control algorithm is proposed and the simulation results are given.